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Hello, I am a college student working to build a UAV. I selected the MPU6050 as my IMU because it seems to have a pretty substantial community around it. Time to test that! Does anyone know how to invert the orientation of the IMU sensor in order to change its frame from a quadcopter to a UAV? I have attached photos below. I have tried flipping the physical sensor and playing with the offsets but that has not yielded anything useful. I have designed a complicated quaternion attitude controller dependent on the AC orientation and it would be a real pain to have to redo all of my work because of a IMU coding issue. I have the MPU6050 connected to a raspberry pi, which runs the controller, and am using an Arduino Due to control the motors/servos. Any help with this would be greatly appreciated!
Hello, Complete code novice, I'm using Jeff Rowberg's library and sample code to get the Yaw, Pitch and Roll orientations of the gyro. However wanting to get the angular acceleration using these, (I'm thinking along the lines of, yaw value(t=t+1)-yaw value(t=t)/(time^2), knowing that the sample rate is 10 ms) and then depending on these values, if they are about a certain threshold a light turns on. However I'm very confused where to input these alterations of the code and actually how to write them. Any help really appreciated!